#ifndef GLOBAL_H_
#define GLOBAL_H_

#include "stm32f10x.h"
#include "tools.h"
#include "usartDebug.h"
#include <stdio.h>

#include "i2c_soft.h"
#include "spi_soft.h"
#include "nrf24l01.h"
#include "mpu6050.h"
#include "filter.h"
#include "imu.h"
#include <math.h>
#include "tim.h"
#include "rxRemote.h"
#include <string.h>
#include "pid.h"
#include "myMath.h"
#include "pwmMotor.h"
#include "pwmLED.h"
#include "led.h"
#include "control.h"

extern float dt;

extern _st_Mpu mpu6050;
extern _st_Mpu_F mpu6050_F;

extern _st_Quaternion imuQuaternion;
extern _st_EulerAngle imuEulerAngle;

extern _st_TxRemote txRemote;
extern _st_RxRemote rxRemote;

extern _em_FlightState flightState;

extern _st_PidObject pidPitch;
extern _st_PidObject pidRoll;
extern _st_PidObject pidYaw;

extern _st_PidObject pidRateX;
extern _st_PidObject pidRateY;
extern _st_PidObject pidRateZ;

#endif /*GLOBAL_H_*/
